Method and apparatus for controlling turning-on / turning-off of lamp by using robot, and electronic device

Abstract

A method and apparatus for controlling the turning-on / turning-off of a lamp by using a robot, and an electronic device and a computer-readable storage medium. The method for controlling the turning-on / turning-off of a lamp by using a robot comprises: a robot acquiring a lamp turn-on / turn-off instruction; navigating to a region where a target lamp switch is located, and performing object recognition on the region where the target lamp switch is located, so as to determine the target lamp switch and the exact position thereof, wherein the exact position of the target lamp switch comprises the height of the target lamp switch; adjusting the height of a robotic arm on the basis of the height of the target lamp switch, recognizing the target lamp switch, and determining the on / off state of the target lamp switch; in view of the on / off state of the target lamp switch, the exact position of the target lamp switch and a lamp turn-on / turn-off action instruction, generating a path for the robotic arm to control the target lamp switch to perform a lamp turn-on / turn-off action; and in view of a target lamp switch type, turning on / turning off a lamp according to the path of the lamp turn-on / turn-off action. By means of the method for controlling the turning-on / turning-off of a lamp, a lamp switch can be accurately recognized and located, and an operation of the switch is precisely controlled.

Description

A robot light on / off control method, device and electronic equipment Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a method and device for controlling a light on / off of a robot, and electronic equipment. Background Art

[0002] With the rapid advancement of technology, service robots have gradually become an emerging trend in home automation. They can autonomously complete various household tasks, further improving the quality of our home life. However, while traditional robots excel in spatial navigation, they lack the technical skills to perform delicate operations such as autonomously turning lights on and off.

[0003] Autonomously turning lights on and off may seem like a simple task, but it actually involves a complex set of technologies, including precise spatial navigation, object recognition, and fine-grained motion control. Due to technical limitations, traditional robots often struggle to accurately identify and locate light switches, nor can they precisely control their operation.

[0004] Therefore, a method, device and electronic device for controlling light on / off of a robot are proposed.

[0005] Summary of the Invention

[0006] This specification provides a robot light on / off control method, device and electronic equipment, which can accurately identify and locate light switches and precisely control the operation of the switches.

[0007] This manual provides a method for controlling a robot's light on / off, including:

[0008] The robot obtains a light on / off instruction, the light on / off instruction including a target light switch code, a target light switch type, and a light on / off action instruction, and reads a region where the target light switch is located based on the target light switch code;

[0009] Navigating to the area where the target lamp switch is located, performing object recognition on the area where the target lamp switch is located, and determining the target lamp switch and its exact location, wherein the exact location of the target lamp switch includes the height of the target lamp switch;

[0010] adjusting the height of the robotic arm based on the height of the target lamp switch, identifying the target lamp switch, and determining the switch state of the target lamp switch;

[0011] Combining the switch state of the target lamp switch, the accurate position of the target lamp switch, and the light on / off action instruction, a path for the robotic arm to control the target lamp switch to perform the light on / off action is generated;

[0012] The light is turned on / off according to the path of the light on / off action in combination with the target lamp switch type.

[0013] Optionally, performing object recognition on the area where the target lamp switch is located includes:

[0014] Use a depth camera to recognize labels on light switches.

[0015] Optionally, identifying a target lamp switch and determining a switch state of the target lamp switch includes:

[0016] Using a depth camera to identify the YAW rotation angle of the label of the target light switch in the camera coordinate system;

[0017] The switch state of the target lamp switch is determined based on the YAW rotation angle.

[0018] Optionally, turning on / off the light according to the path of the light on / off action in combination with the target light switch type includes:

[0019] Determining the pressing force for turning on / off the light based on the target light switch type;

[0020] When the force sensor on the robotic arm senses that the robotic arm is in contact with the target lamp switch, the target switch is pressed according to the pressing force to turn the light on / off.

[0021] Optionally, also include:

[0022] The light on / off instruction also includes a light on / off timing instruction;

[0023] Navigate to the area where the target lamp switch is located according to the light on / off timing instruction, until the light is turned on / off according to the path of the light on / off action in combination with the target lamp switch type.

[0024] Optionally, after turning on / off the light according to the path of the light on / off action in combination with the target light switch type, the method further includes:

[0025] Return to the area where the target lamp switch is located, identify the target lamp switch, and determine the switch state of the target lamp switch.

[0026] Optionally, returning to the area where the target lamp switch is located, identifying the target lamp switch, and determining the switch state of the target lamp switch includes:

[0027] When the switch state of the target lamp switch is consistent with the light on / off action instruction, the robotic arm retracts to the initial position.

[0028] This manual provides a robot light on / off control device, including:

[0029] An acquisition module is used for the robot to acquire a light on / off instruction, wherein the light on / off instruction includes a target light switch code, a target light switch type, and a light on / off action instruction, and reads the area where the target light switch is located based on the target light switch code;

[0030] an identification module, configured to navigate to an area where the target lamp switch is located, perform object recognition on the area where the target lamp switch is located, and determine the target lamp switch and its exact location, wherein the exact location of the target lamp switch includes the height of the target lamp switch;

[0031] a determination module, configured to adjust the height of the robotic arm based on the height of the target lamp switch, identify the target lamp switch, and determine the switch state of the target lamp switch;

[0032] a generation module for generating a path for a robotic arm to control the target lamp switch to perform the on / off action based on the switch state of the target lamp switch, the accurate position of the target lamp switch, and the on / off action instruction;

[0033] A control module is configured to turn on / off the light according to the path of the light on / off action in combination with the target light switch type.

[0034] Optionally, performing object recognition on the area where the target lamp switch is located includes:

[0035] Use a depth camera to recognize labels on light switches.

[0036] Optionally, identifying a target lamp switch and determining a switch state of the target lamp switch includes:

[0037] Using a depth camera to identify the YAW rotation angle of the label of the target light switch in the camera coordinate system;

[0038] The switch state of the target lamp switch is determined based on the YAW rotation angle.

[0039] Optionally, turning on / off the light according to the path of the light on / off action in combination with the target light switch type includes:

[0040] Determining the pressing force for turning on / off the light based on the target light switch type;

[0041] When the force sensor on the robotic arm senses that the robotic arm is in contact with the target lamp switch, the target switch is pressed according to the pressing force to turn the light on / off.

[0042] Optionally, also include:

[0043] The light on / off instruction also includes a light on / off timing instruction;

[0044] Navigate to the area where the target lamp switch is located according to the light on / off timing instruction, until turning the light on / off according to the path of the light on / off action in combination with the target lamp switch type.

[0045] Optionally, after turning on / off the light according to the path of the light on / off action in combination with the target light switch type, the method further includes:

[0046] Return to the area where the target lamp switch is located, identify the target lamp switch, and determine the switch state of the target lamp switch.

[0047] Optionally, after returning to the area where the target lamp switch is located, identifying the target lamp switch, and determining the switch state of the target lamp switch, the method further includes:

[0048] When the switch state of the target lamp switch is consistent with the light on / off action instruction, the robotic arm retracts to the initial position.

[0049] This specification also provides an electronic device, wherein the electronic device includes:

[0050] A processor; and a memory storing processor-executable instructions, wherein the executable instructions, when executed, cause the processor to perform any of the methods described above.

[0051] This specification also provides a computer-readable storage medium, wherein the computer-readable storage medium stores one or more programs, and when the one or more programs are executed by a processor, any of the above methods is implemented.

[0052] The present invention has at least one of the following advantages:

[0053] 1. After receiving the on / off command, the robot moves to a position with a set distance from the target lamp switch and stops. This avoids the problem that the robot is too far away from the target lamp switch and cannot reach the target lamp, or the robot is too close to the target lamp and cannot recognize the target lamp.

[0054] 2. The robot automatically tracks the label on the light switch until it reaches the target light switch area, then stops automatically, ensuring that the robot can accurately and efficiently align and approach the target location;

[0055] 3. Adjust the pressing force according to different types of light switches to improve the success rate of operation and reduce possible damage to the switch. At the same time, by using force sensors, the contact force between the robotic arm and the target light switch can be monitored and adjusted in real time, making the operation more accurate and reliable.

[0056] 4. By combining timing instructions, the robot can not only accurately reach the target area at the specified time, but also ensure that the light is turned on / off at the correct time, providing users with more convenient and intelligent services;

[0057] 5. The feedback mechanism ensures that the robot can verify the actual status of the switch after performing the on / off light action, improving the accuracy and reliability of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0059] FIG1 is a schematic diagram showing the principle of a method for controlling a light on / off of a robot according to an embodiment of the present invention;

[0060] FIG2 is a schematic structural diagram of a robot light on / off control device provided in an embodiment of this specification;

[0061] FIG3 is a schematic diagram of the structure of an electronic device provided in an embodiment of this specification;

[0062] FIG4 is a schematic diagram showing the principle of a computer-readable medium provided in an embodiment of this specification. DETAILED DESCRIPTION

[0063] The following description is intended to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are for illustrative purposes only, and those skilled in the art will readily appreciate other obvious variations. The basic principles of the present invention defined in the following description may be applied to other embodiments, variations, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the present invention.

[0064] The following describes exemplary embodiments of the present invention in more detail with reference to Figures 1-4. However, exemplary embodiments can be implemented in a variety of forms, and the present invention should not be construed as being limited to the embodiments set forth herein. Rather, providing these exemplary embodiments makes the present invention more comprehensive and complete, and more easily conveys the inventive concept to those skilled in the art. Identical reference numerals in the figures represent identical or similar elements, components, or parts, and thus their repeated description will be omitted.

[0065] Under the premise of being consistent with the technical concept of the present invention, the features, structures, characteristics or other details described in a specific embodiment do not exclude that they can be combined in one or more other embodiments in a suitable manner.

[0066] In the description of specific embodiments, the features, structures, characteristics, or other details of the present invention are described to enable those skilled in the art to fully understand the embodiments. However, this does not preclude those skilled in the art from practicing the technical solutions of the present invention without one or more of the specific features, structures, characteristics, or other details.

[0067] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, while others may be combined or partially combined. Therefore, the actual execution order may vary depending on the actual situation.

[0068] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically separate entities. That is, these functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0069] The term "and / or" or "and / or" includes all combinations of any one or more of the associated listed items.

[0070] FIG1 is a schematic diagram showing the principle of a method for controlling a light on / off of a robot provided in an embodiment of this specification. The method may include:

[0071] S110: The robot obtains a light on / off instruction, wherein the light on / off instruction includes a target light switch code, a target light switch type, and a light on / off action instruction, and reads the area where the target light switch is located based on the target light switch code;

[0072] In the specific implementation of this specification, there is a one-to-one mapping between light switch codes and light switches; one light switch code corresponds to one light switch. The light switch type can be used to determine the size of the light switch, the shape of the switch button, and the size of the switch button. To account for navigation errors, a light switch location zone is set. This means that after receiving an on / off command, the robot stops at a set distance from the target light switch. This prevents situations where the robot is too far from the target light switch, preventing it from reaching the target light, or too close to the target light, preventing it from recognizing the target light.

[0073] S120: Navigate to the area where the target lamp switch is located, perform object recognition on the area where the target lamp switch is located, determine the target lamp switch and its exact position, wherein the exact position of the target lamp switch includes the height of the target lamp switch;

[0074] Optionally, performing object recognition on the area where the target lamp switch is located includes:

[0075] Use a depth camera to recognize labels on light switches.

[0076] In a specific embodiment of the present specification, when the robot receives a light on / off command, the robot automatically tracks the label on the light switch until the robot reaches the area where the target light switch is located, and the robot automatically stops, thereby ensuring that the robot can accurately and efficiently align and approach the target position.

[0077] The label can be either an April tag or a QR code. The April tag, also known as the April Tag, is a visual fiducial system tag suitable for a variety of tasks, including augmented reality, robotics, and camera calibration. After creating a target using a standard printer, the April Tag calculates the tag's precise 3D position, orientation, and identity relative to the camera.

[0078] As the robot tracks the tag, it may gradually move out of the depth camera's field of view. Therefore, a guide rail can be installed on the base of the robotic arm, and the motor-driven PID controller can be used to control the arm's height to ensure that the tag is always within the depth camera's field of view or in the center.

[0079] S130: adjusting the height of the robotic arm based on the height of the target lamp switch, identifying the target lamp switch, and determining the switch state of the target lamp switch;

[0080] Optionally, identifying a target lamp switch and determining a switch state of the target lamp switch includes:

[0081] Using a depth camera to identify the YAW rotation angle of the label of the target light switch in the camera coordinate system;

[0082] The switch state of the target lamp switch is determined based on the YAW rotation angle.

[0083] In a specific embodiment of the present specification, a depth camera is used to acquire an image of a target light switch, and a computer vision algorithm or a deep learning model is used to identify a label in the image and determine the position of the label in the image. Based on the position of the label in the image, the YAW rotation angle of the label in the camera coordinate system can be calculated using geometric transformations and internal and external parameters of the camera, that is, the YAW rotation angle reflects the horizontal rotation angle of the target light switch relative to the camera. Based on the calculated YAW rotation angle, the state of the target light switch can be determined. The specific determination method may vary depending on the design and working principle of the switch. For example, a threshold value can be set. When the YAW rotation angle is greater than the threshold value, it is determined to be in the switch-on state; when the YAW rotation angle is less than the threshold value, it is determined to be in the switch-off state.

[0084] It’s important to note that this process involves the use of internal and external camera parameters, which may require camera calibration. Furthermore, to ensure accurate tag recognition and positioning, as well as accurate calculation of YAW rotation angles, factors such as lighting conditions, camera angle, and position must be considered and appropriately optimized and adjusted.

[0085] S140: generating a path for a robotic arm to control the target lamp switch to perform the on / off action by combining the switch state of the target lamp switch, the accurate position of the target lamp switch, and the on / off action instruction;

[0086] In the specific implementation of this specification, path planning needs to take into account factors such as obstacles, the working range and limitations of the robot arm. In this application, by planning the path using Cartesian, a smooth path without posture flipping can be obtained.

[0087] The robot arm's action is optimized based on the current state of the target light switch. Of course, if the target light switch is already on and the instruction requires turning it on, the robot arm does not need to perform the pressing action.

[0088] S150: Turning the light on / off according to the path of the light on / off action in combination with the target lamp switch type.

[0089] Optionally, turning on / off the light according to the path of the light on / off action in combination with the target light switch type includes:

[0090] Determining the pressing force for turning on / off the light based on the target light switch type;

[0091] When the force sensor on the robotic arm senses that the robotic arm is in contact with the target lamp switch, the target switch is pressed according to the pressing force to turn the light on / off.

[0092] In a specific embodiment of the present specification, different types of light switches may require different pressing forces to operate. For example, some switches may require a light press, while others may require a greater force. Therefore, depending on the type of target light switch, an appropriate pressing force can be pre-set or learned. When the robotic arm approaches the target light switch, the force sensor on the robotic arm begins to monitor the contact with the target light switch, which can be achieved by monitoring the change in force or the distribution of pressure. Once the force sensor senses that the robotic arm is in contact with the target light switch, the system will determine whether the contact is stable to prevent misoperation. After determining that the robotic arm is in stable contact with the target light switch, the robotic arm presses according to the pre-set pressing force, which should be sufficient to operate the target light switch but not damage it.

[0093] This allows the force to be adjusted for different types of light switches, improving the success rate of operations and reducing potential damage to the switches. Furthermore, by using a force sensor, the contact force between the robotic arm and the target light switch can be monitored and adjusted in real time, making operations more accurate and reliable.

[0094] Optionally, also include:

[0095] The light on / off instruction also includes a light on / off timing instruction;

[0096] Navigate to the area where the target lamp switch is located according to the light on / off timing instruction, until the light is turned on / off according to the path of the light on / off action in combination with the target lamp switch type.

[0097] In the specific implementation of this specification, by combining timing instructions, the robot can not only accurately reach the target area at the specified time, but also ensure that the light is turned on / off at the correct time, providing users with more convenient and intelligent services.

[0098] Optionally, after turning on / off the light according to the path of the light on / off action in combination with the target light switch type, the method further includes:

[0099] Return to the area where the target lamp switch is located, identify the target lamp switch, and determine the switch state of the target lamp switch.

[0100] In the specific implementation of this specification, the robot returns to the area where the target lamp switch is located, identifies the target lamp switch again, and accurately determines its current switch status. This feedback mechanism ensures that the robot can verify the actual status of the switch after performing the on / off light action, thereby improving the accuracy and reliability of the operation.

[0101] Optionally, after returning to the area where the target lamp switch is located, identifying the target lamp switch, and determining the switch state of the target lamp switch, the method further includes:

[0102] When the switch state of the target lamp switch is consistent with the light on / off action instruction, the robotic arm retracts to the initial position.

[0103] In a specific embodiment of the present specification, the base of the robotic arm can be set as a damped rotating base, and a servo can be set under the base. When the robot completes the light on / off action, the base of the robotic arm can return to its original position through the servo.

[0104] The present invention has at least one of the following advantages:

[0105] 1. After receiving the on / off command, the robot moves to a position with a set distance from the target lamp switch and stops. This avoids the problem that the robot is too far away from the target lamp switch and cannot reach the target lamp, or the robot is too close to the target lamp and cannot recognize the target lamp.

[0106] 2. The robot automatically tracks the label on the light switch until it reaches the target light switch area, then stops automatically, ensuring that the robot can accurately and efficiently align and approach the target location;

[0107] 3. Adjust the pressing force according to different types of light switches to improve the success rate of operation and reduce possible damage to the switch. At the same time, by using force sensors, the contact force between the robotic arm and the target light switch can be monitored and adjusted in real time, making the operation more accurate and reliable.

[0108] 4. By combining timing instructions, the robot can not only accurately reach the target area at the specified time, but also ensure that the light is turned on / off at the correct time, providing users with more convenient and intelligent services;

[0109] 5. The feedback mechanism ensures that the robot can verify the actual status of the switch after performing the on / off light action, improving the accuracy and reliability of the operation.

[0110] FIG2 is a schematic diagram of the structure of a robot light on / off control device provided in an embodiment of this specification. The device may include:

[0111] An acquisition module 10 is configured to acquire a light on / off instruction, wherein the light on / off instruction includes a target light switch code, a target light switch type, and a light on / off action instruction, and read the area where the target light switch is located based on the target light switch code;

[0112] an identification module 20 for navigating to the area where the target light switch is located, performing object recognition on the area where the target light switch is located, and determining the target light switch and its exact location, wherein the exact location of the target light switch includes the height of the target light switch;

[0113] a determination module 30, configured to adjust the height of the robot arm based on the height of the target lighting switch, identify the target lighting switch, and determine the switch state of the target lighting switch;

[0114] A generating module 40 is configured to generate a path for a robotic arm to control the target lamp switch to perform a light on / off action based on the switch state of the target lamp switch, the accurate position of the target lamp switch, and the light on / off action instruction;

[0115] The control module 50 is configured to turn on / off the light according to the path of the light on / off action in combination with the target light switch type.

[0116] Optionally, performing object recognition on the area where the target lamp switch is located includes:

[0117] Use a depth camera to recognize labels on light switches.

[0118] Optionally, identifying a target lamp switch and determining a switch state of the target lamp switch includes:

[0119] Using a depth camera to identify the YAW rotation angle of the label of the target light switch in the camera coordinate system;

[0120] The switch state of the target lamp switch is determined based on the YAW rotation angle.

[0121] Optionally, turning on / off the light according to the path of the light on / off action in combination with the target light switch type includes:

[0122] Determining the pressing force for turning on / off the light based on the target light switch type;

[0123] When the force sensor on the robotic arm senses that the robotic arm is in contact with the target lamp switch, the target switch is pressed according to the pressing force to turn the light on / off.

[0124] Optionally, also include:

[0125] The light on / off instruction also includes a light on / off timing instruction;

[0126] Navigate to the area where the target lamp switch is located according to the light on / off timing instruction, until the light is turned on / off according to the path of the light on / off action in combination with the target lamp switch type.

[0127] Optionally, after turning on / off the light according to the path of the light on / off action in combination with the target light switch type, the method further includes:

[0128] Return to the area where the target lamp switch is located, identify the target lamp switch, and determine the switch state of the target lamp switch.

[0129] Optionally, after returning to the area where the target lamp switch is located, identifying the target lamp switch, and determining the switch state of the target lamp switch, the method further includes:

[0130] When the switch state of the target lamp switch is consistent with the light on / off action instruction, the robotic arm retracts to the initial position.

[0131] The functions of the device in the embodiment of the present invention have been described in the above method embodiment. Therefore, for details not fully described in this embodiment, please refer to the relevant description in the above embodiment and will not be repeated here.

[0132] Based on the same inventive concept, an embodiment of this specification also provides an electronic device.

[0133] The following describes an electronic device embodiment of the present invention, which can be considered a specific physical implementation of the method and apparatus embodiments of the present invention described above. Details described in the electronic device embodiment of the present invention should be considered supplementary to the above-mentioned method or apparatus embodiments; details not disclosed in the electronic device embodiment of the present invention can be implemented with reference to the above-mentioned method or apparatus embodiments.

[0134] Figure 3 is a schematic diagram of the structure of an electronic device provided in an embodiment of this specification. The electronic device 300 according to this embodiment of the present invention is described below with reference to Figure 3. The electronic device 300 shown in Figure 3 is merely an example and should not limit the functionality or scope of use of the embodiments of the present invention.

[0135] As shown in FIG3 , electronic device 300 is implemented as a general-purpose computing device. Components of electronic device 300 may include, but are not limited to, at least one processing unit 310, at least one storage unit 320, a bus 330 connecting various system components (including storage unit 320 and processing unit 310), and a display unit 340.

[0136] The storage unit stores program code that can be executed by the processing unit 310, so that the processing unit 310 performs the steps according to various exemplary embodiments of the present invention described in the above processing method section of this specification. For example, the processing unit 310 can perform the steps shown in Figure 1.

[0137] The storage unit 320 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 3201 and / or a cache memory unit 3202 , and may further include a read-only memory unit (ROM) 3203 .

[0138] The storage unit 320 may also include a program / utility 3204 having a set (at least one) of program modules 3205, such program modules 3205 including but not limited to: an operating system, one or more application programs, other program modules and program data, each of which or some combination may include an implementation of a network environment.

[0139] Bus 330 may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0140] The electronic device 300 can also communicate with one or more external devices 400 (e.g., a keyboard, a pointing device, a Bluetooth device, etc.), one or more devices that enable a viewer to interact with the electronic device 300, and / or any device that enables the electronic device 300 to communicate with one or more other computing devices (e.g., a router, a modem, etc.). Such communication can occur via an input / output (I / O) interface 350. Furthermore, the electronic device 300 can communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network such as the Internet) via a network adapter 360. The network adapter 360 can communicate with other modules of the electronic device 300 via the bus 330. It should be understood that, although not shown in FIG. 3 , other hardware and / or software modules can be used in conjunction with the electronic device 300, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0141] The above description of the embodiments will be readily understood by those skilled in the art. Therefore, the technical solutions according to the embodiments of the present invention can be embodied in the form of a software product, which can be stored in a computer-readable storage medium (which can be a CD-ROM, USB flash drive, mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, server, or network device, etc.) to execute the above-mentioned method according to the present invention. When the computer program is executed by a data processing device, the computer-readable medium is enabled to implement the above-mentioned method of the present invention, i.e., the method shown in FIG1 .

[0142] FIG4 is a schematic diagram showing the principle of a computer-readable medium provided in an embodiment of this specification.

[0143] The computer program implementing the method shown in Figure 1 can be stored on one or more computer-readable media. The computer-readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but not limited to, a system, device or component of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0144] The computer-readable storage medium may include a data signal propagated in baseband or as part of a carrier wave, wherein the readable program code is carried. The data signal propagated may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The readable storage medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, device, or component. The program code contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination thereof.

[0145] The program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, and the like, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the viewer computing device, partially on the viewer device, as a stand-alone software package, partially on the viewer computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving a remote computing device, the remote computing device may be connected to the viewer computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0146] In summary, the present invention can be implemented in hardware, or in a software module running on one or more processors, or in a combination thereof. It will be appreciated by those skilled in the art that general data processing equipment such as a microprocessor or a digital signal processor (DSP) can be used in practice to implement some or all of the functions of some or all of the components in the embodiments of the present invention. The present invention can also be implemented as a device or apparatus program (e.g., a computer program and a computer program product) for executing a part or all of the methods described herein. Such a program for implementing the present invention can be stored on a computer-readable medium, or can have the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0147] The specific embodiments described above further illustrate the objectives, technical solutions, and beneficial effects of the present invention. It should be understood that the present invention is not inherently related to any specific computer, virtual device, or electronic device, and various general-purpose devices can also implement the present invention. The above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of protection of the present invention.

[0148] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments.

[0149] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A robot light on / off control method, characterized in that: include: The robot obtains a light on / off instruction, wherein the light on / off instruction includes a target light switch code, a target light switch type, and a light on / off action instruction, and reads an area where the target light switch is located based on the target light switch code; Navigate to the area where the target lamp switch is located, perform object recognition on the area where the target lamp switch is located, determine the target lamp switch and its accurate position, wherein the accurate position of the target lamp switch includes the height of the target lamp switch; adjusting the height of the robot arm based on the height of the target lamp switch, identifying the target lamp switch, and determining the switch state of the target lamp switch; Combining the switch state of the target lamp switch, the accurate position of the target lamp switch, and the on / off light action instruction, a path for the robot arm to control the target lamp switch to perform the on / off light action is generated; The light is turned on / off according to the path of the light on / off action in combination with the target light switch type.

2. The robot light on / off control method according to claim 1, characterized in that: The performing object recognition on the area where the target lamp switch is located includes: Use a depth camera to recognize labels on light switches.

3. The robot light on / off control method as claimed in claim 2, characterized in that: The step of identifying the target lamp switch and determining the switch state of the target lamp switch includes: Using a depth camera to identify the YAW rotation angle of the label of the target lamp switch in the camera coordinate system; The switch state of the target lamp switch is determined based on the YAW rotation angle.

4. The robot light on / off control method according to claim 1, characterized in that: The step of turning on / off the light in accordance with the path of the light on / off action in combination with the target light switch type comprises: Determine the pressing force for turning on / off the light based on the target light switch type; When the force sensor on the robotic arm senses that the robotic arm is in contact with the target lamp switch, the target switch is pressed according to the pressing force to turn the light on / off.

5. The robot light on / off control method according to claim 1, characterized in that: Also includes: The light on / off instruction also includes a light on / off timing instruction; Navigate to the area where the target lamp switch is located according to the light on / off timing instruction, until the light is turned on / off according to the path of the light on / off action in combination with the target lamp switch type.

6. The robot light on / off control method according to claim 1, characterized in that: After turning on / off the light according to the path of the light on / off action in combination with the target light switch type, the method includes: Return to the area where the target lamp switch is located, identify the target lamp switch, and determine the switch state of the target lamp switch.

7. The robot light on / off control method according to claim 6, characterized in that: After returning to the area where the target lamp switch is located, identifying the target lamp switch, and determining the switch state of the target lamp switch, the method further includes: When the switch state of the target lamp switch is consistent with the light on / off action instruction, the robotic arm retracts back to the initial position.

8. A robot light on / off control device, characterized in that: include: An acquisition module is used for the robot to acquire a light on / off instruction, wherein the light on / off instruction includes a target light switch code, a target light switch type, and a light on / off action instruction, and reads an area where a target light switch is located based on the target light switch code; an identification module, configured to navigate to the area where the target lamp switch is located, perform object identification on the area where the target lamp switch is located, determine the target lamp switch and its exact position, wherein the exact position of the target lamp switch includes the height of the target lamp switch; A determination module, configured to adjust the height of the robot arm based on the height of the target lamp switch, identify the target lamp switch, and determine the switch state of the target lamp switch; A generating module, for generating a path for a robot arm to control the target lamp switch to perform a light on / off action by combining the switch state of the target lamp switch, the accurate position of the target lamp switch, and a light on / off action instruction; A control module is used to combine the target lamp switch type and perform the on / off light action according to the path of the on / off light action. Line on / off light.

9. An electronic device, wherein: The electronic device includes: A processor; and a memory storing processor-executable instructions, which, when executed, cause the processor to perform a method according to any one of claims 1-7.

10. A computer-readable storage medium, wherein: The computer-readable storage medium stores one or more programs, and when the one or more programs are executed by a processor, the method of any one of claims 1 to 7 is implemented.

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